Real-time interference check system of machine tool and robot

Abstract

An interference check system capable of appropriately checking interference between a machine tool and a robot in real time even in the case where real-time properties of data communication are not secured in a system including a machine tool and a robot. The interference check system includes a machine tool controller configured to control a machine tool, a robot controller configured to control a robot, and an interference check execution unit configured to include shape model data or the like of a machine tool mechanical unit and a robot mechanical unit. The interference check execution unit checks presence/absence of interference between the machine tool mechanical unit and the robot mechanical unit based on the shape model data of the machine tool and the robot and time-series data generated by integrating the positions of the control axes of the machine tool and the robot, respectively.

The invention claimed is: 
     
       1. An interference check system,. comprising:
 a machine tool controller configured to control a machine tool; and 
 a robot controller configured to control a robot, wherein 
 the machine tool controller includes shape model data of a mechanical unit of the machine tool and a mechanical unit of the robot and is configured to check interference between the mechanical unit of the machine tool and the mechanical unit of the robot, 
 the machine tool controller or the robot controller is configured to
 integrate, during the operation of the robot and the machine tool, (i) a first set of an operation time of the robot and positions of control axes of the robot corresponding to the operation time of the robot, which first set is generated by the robot controller, and (ii) a second set of an operation time of the machine tool and positions of control axes of the machine tool corresponding to the operation time of the machine tool, which second set is generated sequentially by the machine tool controller, and 
 sequentially generate a third set of a time when interference is checked and positions of control axes of the robot and the machine tool corresponding to the time when interference is checked, and 
 
 the machine tool controller is configured to check interference in real time between the mechanical unit of the machine tool and the mechanical unit of the robot based on
 the shape model data of the mechanical units of the machine tool and the robot, and 
 the third set of the time when interference is checked and the positions of the control axes of the robot and the machine tool corresponding to the time when interference is checked, which third set is generated sequentially. 
 
 
     
     
       2. The interference check system as set forth in  claim 1 , wherein the time when interference is checked is the same as the operation time of the machine tool. 
     
     
       3. The interference check system as set forth in  claim 1 , wherein the time when interference is checked is the same as the operation time of the robot. 
     
     
       4. An interference check system, comprising:
 a machine tool controller configured to control a machine tool; and 
 a robot controller configured to control a robot, wherein 
 the robot controller includes shape model data of a mechanical unit of the machine tool and a mechanical unit of the robot and is configured to check interference between the mechanical unit of the machine tool and the mechanical unit of the robot, 
 the machine tool controller or the robot controller is configured to
 integrate, during the operation of the robot and the machine tool, (i) a first set of an operation time of the robot and positions of control axes of the robot corresponding to the operation time of the robot, which first set is generated by the robot controller, and (ii) a second set of an operation time of the machine tool and positions of control axes of the machine tool corresponding to the operation time of the machine tool, which second set is generated sequentially by the machine tool controller, and 
 sequentially generate a third set of a time when interference is checked and positions of control axes of the robot and the machine tool corresponding to the time when interference is checked, and 
 
 the robot controller is configured to check interference in real time between the mechanical unit of the machine tool and the mechanical unit of the robot based on
 the shape model data of the mechanical units of the machine tool and the robot, and 
 the third set of the time when interference is checked and the positions of the control axes of the robot and the machine tool corresponding to the time when interference is checked, which third set is generated sequentially.